CN116620292A

CN116620292A - Gear control method and device, electronic equipment and medium

Info

Publication number: CN116620292A
Application number: CN202310676397.5A
Authority: CN
Inventors: 闫朝亮; 赵弘志; 陈国栋; 罗璞; 余龙; 王桂洋; 张广军; 安泽伟; 王健强; 王谦
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-06-08
Filing date: 2023-06-08
Publication date: 2023-08-22

Abstract

The invention discloses a gear control method, a gear control device, electronic equipment and a medium. The method comprises the following steps: acquiring current cruising speed, current gradient information, current gear information and preset cruising speed corresponding to a target vehicle under a cruising condition; determining target acceleration based on preset cruising speed, current cruising speed and current gradient information, wherein the target acceleration is used for reducing opening variation corresponding to a virtual pedal in a target vehicle; determining a target torque output by an engine in a target vehicle based on the target acceleration, and determining a target pedal opening corresponding to the virtual pedal based on the target torque; determining target gear information corresponding to the opening of the target pedal, and performing gear control on the current gear information based on the target gear information, so that the vehicle is subjected to more accurate gear control, and further, when the vehicle cruises at a constant speed, the gear shifting times of the vehicle are reduced, and the situation of frequent gear shifting of the vehicle is further avoided.

Description

Gear control method and device, electronic equipment and medium

Technical Field

The present invention relates to the field of vehicle technologies, and in particular, to a gear control method, a gear control device, an electronic device, and a medium.

Background

With the rapid development of automobile technology, a user may turn on a cruise mode while driving a vehicle so that the vehicle achieves cruise traveling.

At present, the vehicle can travel at a constant speed according to a vehicle speed preset by a user in a cruising state. However, when the vehicle travels to a road section having a certain gradient in a cruising state, the current vehicle speed of the vehicle deviates from the set vehicle speed. The vehicle will automatically make a vehicle speed adjustment until the current vehicle speed reaches the set vehicle speed. However, frequent gear shifting occurs during the speed adjustment of the vehicle, reducing the driving experience of the user. In particular, the vehicle climbs a slope in a cruising state, and at the moment, the current speed of the vehicle is smaller than the set speed, and the vehicle increases the accelerator to enable the current speed to rise to the set speed. The vehicle may upshift during the throttle up. However, the vehicle accelerates while climbing a hill, and it is necessary to perform climbing by obtaining a larger traction force by downshifting again, resulting in frequent upshifting operations during climbing.

Disclosure of Invention

The invention provides a gear control method, a gear control device, electronic equipment and a medium, which can be used for more accurately controlling gears of a vehicle, so that the gear shifting times of the vehicle are reduced when the vehicle cruises at a constant speed, the condition that the vehicle frequently shifts gears is avoided, and the driving experience of a user is improved.

According to an aspect of the present invention, there is provided a gear control method including:

acquiring current cruising speed, current gradient information, current gear information and preset cruising speed corresponding to a target vehicle under a cruising condition;

determining a target acceleration corresponding to the target vehicle based on the preset cruising speed, the current cruising speed and the current gradient information, wherein the target acceleration is used for reducing the opening variable quantity corresponding to a virtual pedal in the target vehicle;

determining a target torque output by an engine in the target vehicle based on the target acceleration, and determining a target pedal opening corresponding to the virtual pedal based on the target torque;

determining target gear information corresponding to the target pedal opening, and performing gear control on the current gear information based on the target gear information.

According to another aspect of the present invention, there is provided a gear control device including:

the current vehicle acquisition module is used for acquiring the current cruising speed, the current gradient information, the current gear information and the preset cruising speed corresponding to the target vehicle under the cruising working condition;

the target acceleration determining module is used for determining target acceleration corresponding to the target vehicle based on the preset cruising speed, the current cruising speed and the current gradient information, and the target acceleration is used for reducing opening variation corresponding to a virtual pedal in the target vehicle;

A target pedal opening determining module configured to determine a target torque output by an engine in the target vehicle based on the target acceleration, and determine a target pedal opening corresponding to the virtual pedal based on the target torque;

and the target gear information determining module is used for determining target gear information corresponding to the opening degree of the target pedal and performing gear control on the current gear information based on the target gear information.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the gear control method according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a gear control method according to any one of the embodiments of the present invention.

According to the technical scheme, the current cruising speed, the current gradient information, the current gear information and the preset cruising speed corresponding to the target vehicle under the cruising working condition are obtained; and determining a target acceleration corresponding to the target vehicle based on the preset cruising speed, the current cruising speed and the current gradient information, wherein the target acceleration is used for reducing an opening change amount corresponding to a virtual pedal in the target vehicle, so that consideration of gradient information can be added in a cruising process, the target acceleration corresponding to the target vehicle is determined, namely, the acceleration required by the callback speed which is as gentle as possible is determined, and whether the gear needs to be adjusted is related to the opening of the virtual pedal, namely, the opening change amount of the virtual pedal can be reduced to reduce the adjustment of the gear as much as possible, for example, the opening change amount of the virtual pedal is controlled in a change amount range in which gear shifting is not needed, and the adjustment of the gear can be reduced. Determining a target torque output by an engine in the target vehicle based on the target acceleration, and determining a target pedal opening corresponding to the virtual pedal based on the target torque; the target gear information corresponding to the opening of the target pedal is determined, and the current gear information is subjected to gear control based on the target gear information, so that the vehicle can be subjected to more accurate gear control, the gear shifting times of the vehicle are reduced when the vehicle cruises at a constant speed, the situation of frequent gear shifting of the vehicle is finally avoided, and the driving experience of a user is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flowchart of a gear control method according to a first embodiment of the present invention;

FIG. 2 is a graph showing the effect of smoothing with a low-pass filter according to a first embodiment of the present invention;

fig. 3 is an example diagram of a correspondence relationship between a shift position dedicated for cruising of a target vehicle and a virtual pedal opening degree according to a first embodiment of the present invention;

FIG. 4 is a flowchart of another gear control method according to the second embodiment of the present invention;

fig. 5 is a schematic structural view of a gear control device according to a third embodiment of the present invention;

Fig. 6 is a schematic structural diagram of an electronic device implementing a gear control method according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a flowchart of a gear control method according to an embodiment of the present invention, where the method may be performed by a gear control device, which may be implemented in hardware and/or software, and the gear control device may be configured in an electronic device. As shown in fig. 1, the method includes:

s110, acquiring current cruising speed, current gradient information, current gear information and preset cruising speed corresponding to the target vehicle under the cruising working condition.

The cruising is generally a designated speed cruising, i.e. automatic running is performed according to a set speed, for example, an automobile is automatically running on a road according to a speed set by a user. The target vehicle may refer to a vehicle that is automatically driven under a cruise condition. The current cruising speed may refer to a running speed of the target vehicle at the current time under the cruising condition. The current gradient information may refer to gradient information of a road surface on which the target vehicle is traveling at the current time. For example, the current grade information may be, but is not limited to, -1%, or 2%. Wherein, -1% and 1% correspond to the same angle, but-1% corresponds to a downhill grade and 1% corresponds to an uphill grade. The 1% corresponding uphill gradient is tan (0.01). The current gear information may refer to a gear used for the target vehicle to travel at the current time. For example, the current gear information may be, but is not limited to, 4 th or 5 th gear. The preset cruising speed may refer to a vehicle speed that the user sets to be maintained when the target vehicle cruises. The current cruise speed may be the same as or different from the preset cruise speed.

Specifically, waiting for the target vehicle to enter a cruising working condition, and when detecting that the target vehicle starts a cruising function, acquiring current cruising speed, current gradient information, current gear information and preset cruising speed corresponding to the target vehicle under the cruising working condition in real time. And stopping obtaining the current cruising speed, the current gradient information, the current gear information and the preset cruising speed corresponding to the target vehicle when the target vehicle exits the cruising working condition.

And S120, determining target acceleration corresponding to the target vehicle based on the preset cruising speed, the current cruising speed and the current gradient information, wherein the target acceleration is used for reducing the opening change amount corresponding to the virtual pedal in the target vehicle.

When the vehicle is calibrated before leaving the factory, the vehicle is calibrated in a cruise working condition by adjusting the current cruise speed to a preset adjustment time corresponding to the preset cruise speed. The target acceleration may refer to an acceleration required for the target vehicle to adjust the current cruising speed to a preset cruising speed on the premise of the current gradient information. Under the cruising condition, the driver of the target vehicle does not need to control the vehicle speed by personally controlling a physical pedal in the vehicle. Under the cruising condition, the virtual pedal can replace the speed control function of the physical pedal in the vehicle. Under the cruising working condition, a driver can control the vehicle by using the entity pedal when the driver considers that the vehicle needs to be controlled. A virtual pedal may refer to a pedal that does not exist physically in the target vehicle, but has a physical pedal function. The opening degree variation may refer to an angle variation of the pedal.

Specifically, the current speed difference value can be determined based on the preset cruising speed and the current cruising speed, and the current speed difference value and the preset adjustment time length calibrated in advance are subjected to division processing to obtain a division result. The pre-calibrated preset adjustment time period may refer to a time period when the pre-calibrated target vehicle is adjusted from the current cruising speed to the preset cruising speed. Based on the consideration of the gradient, the association relationship between the acceleration corresponding to each gradient and the acceleration corresponding to the gradient of 0 of the target vehicle is calibrated in advance. For example, the association relationship may be a table of association relationships between acceleration and gradient, the abscissa is the acceleration corresponding to the gradient of 0, and the ordinate is the acceleration corresponding to each gradient. And determining the target acceleration corresponding to the target vehicle in a preset association relation table between the acceleration and the gradient based on the determined division result. The division result may be that when the gradient is 0, the acceleration required by the preset cruising speed is adjusted from the current cruising speed, so that consideration of gradient information may be added in the cruising process, a target acceleration corresponding to the target vehicle is determined, that is, an acceleration required by the callback speed which is as gentle as possible is determined, and whether the gear needs to be adjusted is related to the opening degree of the virtual pedal, that is, the adjustment of the gear may be reduced as much as possible by reducing the opening degree variation of the virtual pedal, for example, the opening degree variation of the virtual pedal is controlled within a variation range in which gear shifting is not required, and the adjustment of the gear may be reduced.

S130, determining target torque output by an engine in the target vehicle based on the target acceleration, and determining target pedal opening corresponding to the virtual pedal based on the target torque.

The target torque may be a torque that the target vehicle adjusts from a current cruise speed to a preset cruise speed and the engine needs to provide. The target pedal opening degree may refer to an opening degree value that the pedal in the target vehicle needs to reach when the target torque is output from the engine of the target vehicle.

Specifically, the target acceleration is sent to a torque PID controller for torque control, and the target torque output by the engine in the target vehicle is determined. And determining a target pedal opening corresponding to the virtual pedal in the target vehicle based on the target torque and the corresponding relation between the preset torque and the pedal opening.

And S140, determining target gear information corresponding to the opening degree of the target pedal, and performing gear control on the current gear information based on the target gear information.

Wherein, there is a correspondence between pedal opening and gear information. One pedal opening may correspond to at most two adjacent gear information. For example, the 2 nd gear and the 3 rd gear can correspond to the same pedal opening. The threshold pedal opening for determining 2-shift up and 3-shift down is higher than the threshold pedal opening for determining 3-shift down and 2-shift down. The same pedal opening corresponding to the plurality of 2 nd and 3 rd gears may be between the critical pedal opening of 2 nd up-3 rd gear and the critical pedal opening of 3 rd down-2 rd gear. The target gear information may refer to a gear used by the target vehicle when the target vehicle travels at a preset cruising speed. The current gear information may refer to a gear used by the target vehicle at the current time.

Specifically, the change of the pedal opening may cause a shift in the vehicle to also change, so that target shift information corresponding to the target pedal opening may be determined based on the target pedal opening, and whether the target shift information and the current shift information are consistent may be detected. If the detected target gear information is consistent with the current gear information, the target vehicle can adjust the current cruising speed to the preset cruising speed without gear shifting operation, and the target vehicle continues to keep the preset cruising speed for running after reaching the preset cruising speed. If the detected target gear information is inconsistent with the current gear information, the target vehicle needs to perform gear shifting operation, the current cruising speed can be adjusted to the preset cruising speed, and the preset cruising speed is kept continuously for running after the preset cruising speed is reached. If the target gear information and the current gear information are not adjacent gears, the current gear information is adjusted to be the transition gear information between the current gear information and the target gear information and adjacent to the current gear information until the current gear information is adjusted to the target gear information, so that frequent reciprocating gear shifting operation of a vehicle is reduced, and driving experience of a user is improved.

According to the technical scheme, the current cruising speed, the current gradient information, the current gear information and the preset cruising speed corresponding to the target vehicle under the cruising working condition are obtained; and determining the target acceleration corresponding to the target vehicle based on the preset cruising speed, the current cruising speed and the current gradient information, wherein the target acceleration is used for reducing the opening change amount corresponding to the virtual pedal in the target vehicle, so that consideration of gradient information can be added in the cruising process, the target acceleration corresponding to the target vehicle is determined, namely, the acceleration required by the callback speed which is as gentle as possible is determined, and whether the gear is required to be adjusted is related to the opening of the virtual pedal or not is determined, that is, the adjustment of the gear can be reduced as much as possible by reducing the opening change amount of the virtual pedal, for example, the opening change amount of the virtual pedal is controlled in the change amount range in which gear shifting is not required, and the adjustment of the gear can be reduced. Determining a target torque output by an engine in a target vehicle based on the target acceleration, and determining a target pedal opening corresponding to the virtual pedal based on the target torque; the method comprises the steps of determining target gear information corresponding to the opening of the target pedal, and performing gear control on current gear information based on the target gear information, so that the vehicle can be more accurately gear controlled, and further, when the vehicle cruises at a constant speed, the gear shifting times of the vehicle are reduced, the situation that the vehicle is frequently shifted is finally avoided, and the driving experience of a user is improved.

Based on the above technical solution, the "obtaining the current gradient information corresponding to the target vehicle under the cruise condition" in S110 may include: acquiring actual gradient information acquired by a gradient sensor in a target vehicle; and carrying out smoothing processing on the actual gradient information through a low-pass filter, and determining the current gradient information corresponding to the target vehicle.

The gradient sensor can be used for acquiring the gradient between the vehicle body and the horizontal plane when the vehicle is currently running. The actual gradient information may refer to gradient information actually collected by the gradient sensor. A low pass filter may refer to a device that performs signal screening. For example, a low pass filter may allow signals below the cut-off frequency to pass through, but signals above the cut-off frequency may not pass through an electronic filtering device. The low pass filter may be, but is not limited to, a first order low pass filter.

Specifically, the expression of the screening method in the low-pass filter is as follows:

Y(n)＝αX(n)+(1-α)Y(n-1)

alpha is a filter coefficient, the filter coefficients corresponding to each vehicle type are different, and the calibration is required before the delivery of the vehicle; x (n) is a current sampling value corresponding to the current moment, and is actual gradient information; y (n-1) is the last filtering output value corresponding to the last moment, such as the last gradient signal; y (n) is the current filtering output value corresponding to the current moment, such as the current gradient information. The filtering method has the advantages that the sampling value of the first order low-pass filtering method can be weighted with the last filtering output value to obtain an effective filtering value, so that the output of the low-pass filter has feedback effect on the input. The low-pass filter can smooth the output current gradient information, and avoid fluctuation and error caused by great fluctuation of the actual gradient information on the determination of the target acceleration. Fig. 2 shows a comparison of the effects of smoothing with a low-pass filter. Referring to fig. 2, a is the original signal (corresponding to actual gradient information); b is a smooth signal (corresponding to current gradient information) obtained by smoothing an original signal by a low-pass filter, wherein the filtering coefficient of the low-pass filter is 1; c is a smooth signal (corresponding to current gradient information) obtained by smoothing an original signal by a low-pass filter, wherein the filter coefficient of the low-pass filter is 2. Therefore, the low-pass filter can smooth the output current gradient information, and avoid fluctuation and error caused by great fluctuation of the actual gradient information on the determination of the target acceleration.

On the basis of the above technical solution, the "determining the target gear information corresponding to the target pedal opening" in S140 may include: determining actual gear information corresponding to the target pedal opening based on the corresponding relation between the gear special for cruising of the target vehicle started under the cruising working condition and the virtual pedal opening and the target pedal opening; and smoothing the actual gear information through a low-pass filter to determine target gear information corresponding to the opening degree of the target pedal.

The actual gear information may refer to gear information that is not smoothed by the low-pass filter. Specifically, fig. 3 gives an example map of the correspondence relationship between the shift position dedicated for target vehicle cruising and the virtual pedal opening. Referring to fig. 3, a curve D is a first curve showing a correspondence relationship between a gear position for non-cruise use and a virtual pedal opening degree when a 5-speed down 4-speed is shifted. And curve E is a second curve indicating the correspondence between the non-cruise dedicated gear and the virtual pedal opening when the 4 th gear is shifted up to 5 th gear. The curve F is a third curve showing the correspondence between the cruising-dedicated gear and the virtual pedal opening when the 5 th gear is shifted down by 4 th gear. And a fourth curve indicating a correspondence between a cruise-dedicated gear and a virtual pedal opening when the curve G is 4 th gear up to 5 th gear. Stars are virtual pedal operating points. Stars may be used to represent the course of action of the virtual pedal. The curve H is used to represent the course of gear change during the virtual pedal action. If the determined virtual pedal operating point passes from the left side to the right side of the upshift gear shifting curve (e.g., curve E and curve G), the transmission triggers an upshift. If the determined virtual pedal operating point crosses from the right to the left of the downshift shift curve, the transmission will trigger a downshift.

For example, if the curve D and the curve E are adopted as the basis for determining the gear shift of the target vehicle, the target vehicle will be up-shifted from 4 th gear to 5 th gear after the first intersection point a of the curve H and the curve E according to the curve H; the target vehicle will drop from 5 th gear to 4 th gear after the first intersection point b of the curve H and the curve D; the target vehicle will go up from 4 th gear to 5 th gear after the third intersection point c of the curve H and the curve D; during this time, the target vehicle performs 3 shift operations, and these 3 shift operations are upshift operations repeated between 4 th gear and 5 th gear. The curve F and the curve G are adopted as judgment bases of gear shifting of the target vehicle, namely, the corresponding relation between the gear special for cruising of the target vehicle and the opening degree of the virtual pedal started under the cruising working condition, the curve H, the curve F and the curve G do not have intersection points, which indicates that the target vehicle does not perform gear shifting operation in the process of adjusting the current cruising speed to the preset cruising speed in the period, so that the corresponding relation between the gear special for cruising of the target vehicle and the opening degree of the virtual pedal, namely, the corresponding relation between the gear shifting line and the vehicle speed and the virtual accelerator pedal is modified, and the slope of the gear shifting line is modified, thereby avoiding the occurrence of cyclic gear shifting. When the speed change line slope is calibrated, the vertical direction interval of the speed change line is increased, the fluctuation working area determined by the virtual pedal is avoided as much as possible, the speed change device can be prevented from frequently giving out speed change and speed change instructions, meanwhile, the speed change line of the speed change device is optimized, the power linearity of the vehicle can be ensured, and the power speed change operation is not performed in the medium and large accelerator area as much as possible.

Example two

Fig. 4 is a flowchart of a gear control method according to a second embodiment of the present invention, and the process of determining the target acceleration is described in detail on the basis of the above embodiment. Wherein the explanation of the same or corresponding terms as those of the above embodiments is not repeated herein. As shown in fig. 4, the method includes:

s410, acquiring current cruising speed, current gradient information, current gear information and preset cruising speed corresponding to the target vehicle under the cruising working condition.

S420, determining the corresponding current acceleration of the target vehicle based on the preset cruising speed and the current cruising speed.

The length of time required for the target vehicle to adjust from the current cruise speed to the preset cruise speed may also be fixed. Table 1 gives an example of acceleration required for adjusting from the current cruise speed to the preset cruise speed, and table 1 is as follows:

table 1 example of acceleration required to adjust from current cruise speed to preset cruise speed

Specifically, the current acceleration corresponding to the target vehicle may be determined by the preset cruise speed, the current cruise speed, and table 1. Only a portion of the data in table 1 is provided during actual calibration of the vehicle. And each current cruising speed and each preset cruising speed correspond to one current acceleration in the actual running process of the vehicle.

S430, determining a current compensation coefficient corresponding to the target vehicle based on the corresponding relation between the gradient information and the compensation coefficient and the current gradient information.

The compensation coefficient may be a weighting coefficient between the current acceleration and the target acceleration required for speed adjustment, taking the gradient into consideration. The current compensation coefficient may be a weighting coefficient corresponding to a current acceleration required by the target vehicle to adjust from the current cruise speed to a preset cruise speed, so that when the cruise vehicle speed is increased for acceleration to recover, correction or compensation based on the gradient is performed, and further, cyclic gear shifting is avoided by adjusting the acceleration. Table 2 gives an example of the correspondence between gradient information and compensation coefficients, and table 2 is as follows:

table 2 example of correspondence between gradient information and compensation coefficient

Gradient information (%)	-3	-2	-1	0	1	2	3
								Compensation coefficient	0.8	0.9	0.95	1	1.05	1.08	1

S440, determining the target acceleration corresponding to the target vehicle based on the current acceleration and the current compensation coefficient.

Specifically, if the current gradient information is-3%, the current acceleration is weighted by "0.8" according to table 2, so as to obtain the target acceleration corresponding to the target vehicle. For example, the current acceleration may be multiplied by "0.8" to obtain a multiplication result, and the multiplication result is determined as a target acceleration corresponding to the target vehicle, so that by optimizing the magnitude and reasonable calibration of the acceleration output value under the cruise condition, the opening of the virtual pedal is prevented from falling in the sensitive area triggering the transmission downshift.

S450, determining target torque output by an engine in the target vehicle based on the target acceleration, and determining target pedal opening corresponding to the virtual pedal in the target vehicle based on the target torque.

S460, determining target gear information corresponding to the opening degree of the target pedal, and performing gear control on the current gear information based on the target gear information.

According to the technical scheme, the current acceleration corresponding to the target vehicle is determined based on the preset cruising speed and the current cruising speed; and determining a current compensation coefficient corresponding to the target vehicle based on the corresponding relation between the gradient information and the compensation coefficient and the current gradient information, so that when the cruise vehicle speed is increased for acceleration to recover, correction or compensation based on the gradient is performed, and further, the acceleration is adjusted to avoid cyclic gear shifting. And determining the target acceleration corresponding to the target vehicle based on the current acceleration and the current compensation coefficient, so that the opening degree of the virtual pedal is prevented from falling into a sensitive area triggering the gear-down of the transmission by optimizing the magnitude and reasonable calibration of the acceleration output value under the cruising working condition, the condition of frequent gear shifting of the vehicle is further avoided, and the driving experience of a user is improved.

Based on the above technical solution, S420 may include: determining the corresponding actual acceleration of the target vehicle based on the preset cruising speed and the current cruising speed; and smoothing the actual acceleration through a low-pass filter to determine the current acceleration corresponding to the target vehicle.

The advantage of this is that the filtering control of the acceleration under cruise conditions can be increased, avoiding too fast acceleration fluctuations. Further avoid the frequent gear shifting of vehicle condition, promote user's driving experience.

On the basis of the above technical solution, "determining the actual acceleration corresponding to the target vehicle based on the preset cruising speed and the current cruising speed" may include: determining a difference value between a preset cruising speed and a current cruising speed, and determining the difference value as an actual cruising speed correction value corresponding to the target vehicle; determining an actual acceleration required by the target vehicle from the current cruising speed to reach a preset cruising speed based on a corresponding relation between the cruising speed correction value and the acceleration and the actual cruising speed correction value; wherein the correspondence between the cruise speed correction value and the acceleration for the target vehicle is calibrated in advance.

Wherein the actual cruise speed correction value may be a weight value.

Based on the above technical solution, S440 may include: multiplying the current acceleration by the current compensation coefficient to obtain a multiplication result; and smoothing the multiplied result through a low-pass filter to determine the corresponding target acceleration of the target vehicle.

When each piece of information is acquired, the information can be subjected to smoothing treatment through the low-pass filter of the information to obtain the information with small fluctuation, so that the obtained information is smoother through each low-pass filter, abnormal fluctuation of gradient information, acceleration, target torque, pedal opening and the like can be avoided, transmission control fluctuation caused by great fluctuation of a virtual pedal is reduced, and the phenomenon that the calculated opening of the virtual pedal frequently passes through an upshift line and a downshift line and frequently upshifts and downshifts is avoided. When the gradient sensor acquires gradient information, a low-pass filter is needed to carry out smoothing processing on the information in the process of determining target acceleration, the process of acquiring the current cruising speed and the process of determining the opening of the virtual pedal. The filter coefficients in each low pass filter are preset. Each filter coefficient may be the same or different. The setting of the filter coefficient is determined after a plurality of tests are carried out on indexes such as the vehicle reflection duration, the smoothness degree and the like.

The following is an embodiment of a gear control device provided by an embodiment of the present invention, which belongs to the same inventive concept as the gear control method of the above embodiments, and reference may be made to the embodiment of the gear control method for details that are not described in detail in the embodiment of the gear control device.

Example III

Fig. 5 is a schematic structural diagram of a gear control device according to a third embodiment of the present invention. As shown in fig. 5, the apparatus includes: a current vehicle acquisition module 510, a target acceleration determination module 520, a target pedal opening determination module 530, and a target gear information determination module 540.

The current vehicle obtaining module 510 is configured to obtain a current cruising speed, current gradient information, current gear information and a preset cruising speed corresponding to a target vehicle under a cruising condition; the target acceleration determining module 520 is configured to determine a target acceleration corresponding to the target vehicle based on the preset cruise speed, the current cruise speed, and the current gradient information, where the target acceleration is used to reduce an opening variation corresponding to the virtual pedal in the target vehicle; a target pedal opening determining module 530 for determining a target torque output from the engine in the target vehicle based on the target acceleration, and determining a target pedal opening corresponding to the virtual pedal based on the target torque; the target gear information determining module 540 is configured to determine target gear information corresponding to the target pedal opening, and perform gear control on the current gear information based on the target gear information.

Optionally, the current vehicle acquisition module 510 is specifically configured to: acquiring actual gradient information acquired by a gradient sensor in a target vehicle; and carrying out smoothing processing on the actual gradient information through a low-pass filter, and determining the current gradient information corresponding to the target vehicle.

Alternatively, the target acceleration determination module 520 may include:

the current acceleration determining sub-module is used for determining the current acceleration corresponding to the target vehicle based on the preset cruising speed and the current cruising speed;

the current compensation coefficient determining submodule is used for determining a current compensation coefficient corresponding to the target vehicle based on the corresponding relation between gradient information and the compensation coefficient and the current gradient information;

and the target acceleration determining submodule is used for determining the target acceleration corresponding to the target vehicle based on the current acceleration and the current compensation coefficient.

Alternatively, the current acceleration determination submodule may include:

an actual acceleration determining unit for determining an actual acceleration corresponding to the target vehicle based on the preset cruising speed and the current cruising speed;

and the current acceleration determining unit is used for carrying out smoothing processing on the actual acceleration through a low-pass filter and determining the current acceleration corresponding to the target vehicle.

Optionally, the actual acceleration determining unit is specifically configured to: determining a difference value between a preset cruising speed and a current cruising speed, and determining the difference value as an actual cruising speed correction value corresponding to the target vehicle; determining an actual acceleration required by the target vehicle from the current cruising speed to reach a preset cruising speed based on a corresponding relation between the cruising speed correction value and the acceleration and the actual cruising speed correction value; wherein the correspondence between the cruise speed correction value and the acceleration for the target vehicle is calibrated in advance.

Optionally, the target acceleration determination submodule is specifically configured to: multiplying the current acceleration by the current compensation coefficient to obtain a multiplication result; and smoothing the multiplied result through a low-pass filter to determine the corresponding target acceleration of the target vehicle.

Optionally, the target gear information determining module 540 is specifically configured to: determining actual gear information corresponding to the target pedal opening based on the corresponding relation between the gear special for cruising of the target vehicle started under the cruising working condition and the virtual pedal opening and the target pedal opening; and smoothing the actual gear information through a low-pass filter to determine target gear information corresponding to the opening degree of the target pedal.

The gear control device provided by the embodiment of the invention can execute the gear control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the gear control method.

It should be noted that, in the above embodiment of the gear control device, each unit and module included are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.

Example IV

Fig. 6 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 6, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the respective methods and processes described above, such as a shift control method.

In some embodiments, the gear control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the gear control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the gear control method in any other suitable way (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A shift control method, characterized by comprising:

2. The method of claim 1, wherein obtaining current grade information corresponding to the target vehicle during cruise conditions comprises:

acquiring actual gradient information acquired by a gradient sensor in a target vehicle;

and carrying out smoothing processing on the actual gradient information through a low-pass filter, and determining the current gradient information corresponding to the target vehicle.

3. The method of claim 1, wherein determining a target acceleration corresponding to the target vehicle based on the preset cruise speed, the current cruise speed, and the current grade information comprises:

determining a current acceleration corresponding to the target vehicle based on the preset cruising speed and the current cruising speed;

determining a current compensation coefficient corresponding to the target vehicle based on the corresponding relation between gradient information and compensation coefficient and the current gradient information;

And determining the target acceleration corresponding to the target vehicle based on the current acceleration and the current compensation coefficient.

4. A method according to claim 3, wherein determining a current acceleration corresponding to the target vehicle based on the preset cruise speed and the current cruise speed comprises:

determining the corresponding actual acceleration of the target vehicle based on the preset cruising speed and the current cruising speed;

and smoothing the actual acceleration through a low-pass filter to determine the current acceleration corresponding to the target vehicle.

5. The method of claim 4, wherein determining the actual acceleration corresponding to the target vehicle based on the preset cruise speed and the current cruise speed comprises:

determining a difference value between the preset cruising speed and the current cruising speed, and determining the difference value as an actual cruising speed correction value corresponding to the target vehicle;

determining an actual acceleration required by the target vehicle from the current cruising speed to reach the preset cruising speed based on a corresponding relation between the cruising speed correction value and the acceleration and the actual cruising speed correction value;

Wherein the correspondence between the cruise speed correction value and the acceleration for the target vehicle is calibrated in advance.

6. A method according to claim 3, wherein determining a target acceleration corresponding to the target vehicle based on the current acceleration and the current compensation coefficient comprises:

multiplying the current acceleration by the current compensation coefficient to obtain a multiplication result;

and smoothing the multiplied result through a low-pass filter to determine the target acceleration corresponding to the target vehicle.

7. The method of claim 1, wherein determining target gear information corresponding to the target pedal opening comprises:

determining actual gear information corresponding to a target pedal opening based on a corresponding relation between a gear special for cruising of a target vehicle started under a cruising working condition and a virtual pedal opening and the target pedal opening;

and smoothing the actual gear information through a low-pass filter to determine target gear information corresponding to the target pedal opening.

8. A gear control device characterized by comprising:

9. An electronic device, the electronic device comprising:

one or more processors;

storage means for storing one or more programs,

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the gear control method of any of claims 1-7.

10. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the gear control method according to any one of claims 1-7.